Diff: ROBOFRIEN_GUI/ROBOFRIEN_GUI.cpp

Revision:

0:c466d770ffa7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ROBOFRIEN_GUI/ROBOFRIEN_GUI.cpp	Wed May 17 11:02:27 2017 +0000
@@ -0,0 +1,723 @@
+#include "ROBOFRIEN_GUI.h"
+#include "eeprom.h"
+#include "Config.h"
+
+
+Serial pc(USBTX, USBRX);
+
+uint8_t ISR_Modem_ID_Dept, ISR_Modem_ID_Dest;
+uint8_t ISR_Modem_DC_DPN, ISR_Modem_DC_DL;
+uint8_t ISR_Modem_DATA[256];
+uint8_t ISR_Modem_DC_REQUEST;
+uint16_t ISR_Modem_CHKSUM;
+uint8_t pc_isr_cnt;
+uint8_t isr_modem_data_cnt = 0;
+uint8_t pc_parsing_bool = false;
+bool pc_Start_Check;
+uint8_t model_type1;
+uint16_t model_type2;
+int16_t cap_min[8], cap_neu[8], cap_max[8];
+int pwm_info[4];
+int motor_min[4];
+uint8_t headlight_period, headlight_dutyrate, sidelight_period, sidelight_dutyrate;
+bool compass_configuration_start_bool = false;
+bool compass_configuration_end_bool = false;
+bool fcs_compass_configuration_state = false;
+bool attitude_configuration_bool = false;
+int16_t limit_rollx100, limit_pitchx100;
+int32_t limit_roll_rate, limit_pitch_rate, limit_yaw_rate;
+int gain_px100[20], gain_dx100[20], gain_ix100[20];
+float mag_x_avg,mag_y_avg,mag_z_avg;
+uint8_t pc_buffer[256],ex_pc_raw_buffer,pc_raw_buffer[256];
+uint8_t pc_buffer_cnt=0;
+float declination_angle;
+int HomePointChksum,MarkerChksum;
+
+void ROBOFRIEN_GUI::pc_rx_update(){
+    while (pc.readable()){
+        pc_buffer[1] = pc_buffer[0];
+        pc_buffer[0] = pc.getc();
+        // Check SOF //
+        if (( pc_buffer[1] == 254) & (pc_buffer[0] == 254)){
+               pc_Start_Check = true;
+               pc_isr_cnt = 0;
+        }
+        else if(pc_Start_Check == true){
+            if(pc_isr_cnt <= 4){
+                switch(pc_isr_cnt){
+                    case 0: ISR_Modem_ID_Dept = pc_buffer[0]; break;
+                    case 1: ISR_Modem_ID_Dest = pc_buffer[0]; break;
+                    case 2: ISR_Modem_DC_REQUEST = pc_buffer[0]; break;
+                    case 3: ISR_Modem_DC_DPN = pc_buffer[0]; break;
+                    case 4: ISR_Modem_DC_DL = pc_buffer[0]; isr_modem_data_cnt = 0; break;
+                }   
+            }
+            else if( pc_isr_cnt > 4 ){
+                if ((ISR_Modem_DC_DL >= 1) & (pc_isr_cnt <= (4 + ISR_Modem_DC_DL))) {
+                    ISR_Modem_DATA[isr_modem_data_cnt] = pc_buffer[0];
+                    isr_modem_data_cnt++;
+                }
+                else if(pc_isr_cnt == (4 + ISR_Modem_DC_DL + 2) ){
+                    ISR_Modem_CHKSUM = ((uint16_t)pc_buffer[1] * 256 + pc_buffer[0]);
+                }
+                else if(pc_isr_cnt == (4 + ISR_Modem_DC_DL + 2 + 2) ){
+                    if((pc_buffer[1] == 255) & (pc_buffer[0] == 255) ){
+                        pc_Start_Check = false;
+                        pc_parsing_bool = true;   
+                    }
+                }
+            }
+            pc_isr_cnt ++;
+        }
+    }    
+}
+
+uint8_t Modem_ID_Dest;
+uint8_t Modem_ID_Dept;
+uint8_t Modem_DC_DPN;
+uint8_t Modem_DC_DL;
+uint8_t Modem_DATA[256];
+uint8_t Modem_DC_REQUEST;
+
+bool ROBOFRIEN_GUI::rx_bool(){
+    if(pc_parsing_bool == true){
+        pc_parsing_bool = false;
+        int cal_chksum = 0;
+        for(int i=0; i< ISR_Modem_DC_DL; i++){
+            Modem_DATA[i] = ISR_Modem_DATA[i];
+            cal_chksum +=  ISR_Modem_DATA[i];
+        }
+        if (ISR_Modem_CHKSUM == cal_chksum){
+            return true;   
+        }else{
+            return false;   
+        }
+    }
+    else{
+        return false;   
+    }
+}
+uint8_t DPN_Info;
+float calibrate_gap_roll,calibrate_gap_pitch;
+void ROBOFRIEN_GUI::Configuration_init(){    
+    pc.baud(38400);
+    eeprom_init();
+    /// EEPROM R/W ////
+    // -------- MODEL -------------- //
+    model_type1 = eeprom_read(EEPROM_MODEL_TYPE1);
+    model_type2 = (int)eeprom_read(EEPROM_MODEL_TYPE2_UP) * 256 + eeprom_read(EEPROM_MODEL_TYPE2_DOWN);
+
+    // -------- INPUT - CAP ------------ //
+    cap_min[0] = (int16_t)eeprom_read(EEPROM_RECV_MIN_1) - 127;
+    cap_min[1] = (int16_t)eeprom_read(EEPROM_RECV_MIN_2) - 127;
+    cap_min[2] = (int16_t)eeprom_read(EEPROM_RECV_MIN_3) - 127;
+    cap_min[3] = (int16_t)eeprom_read(EEPROM_RECV_MIN_4) - 127;
+    cap_min[4] = (int16_t)eeprom_read(EEPROM_RECV_MIN_5) - 127;
+    cap_min[5] = (int16_t)eeprom_read(EEPROM_RECV_MIN_6) - 127;
+    cap_min[6] = (int16_t)eeprom_read(EEPROM_RECV_MIN_7) - 127;
+    cap_min[7] = (int16_t)eeprom_read(EEPROM_RECV_MIN_8) - 127;
+
+    cap_neu[0] = (int16_t)eeprom_read(EEPROM_RECV_NEU_1) - 127;
+    cap_neu[1] = (int16_t)eeprom_read(EEPROM_RECV_NEU_2) - 127;
+    cap_neu[2] = (int16_t)eeprom_read(EEPROM_RECV_NEU_3) - 127;
+    cap_neu[3] = (int16_t)eeprom_read(EEPROM_RECV_NEU_4) - 127;
+    cap_neu[4] = (int16_t)eeprom_read(EEPROM_RECV_NEU_5) - 127;
+    cap_neu[5] = (int16_t)eeprom_read(EEPROM_RECV_NEU_6) - 127;
+    cap_neu[6] = (int16_t)eeprom_read(EEPROM_RECV_NEU_7) - 127;
+    cap_neu[7] = (int16_t)eeprom_read(EEPROM_RECV_NEU_8) - 127;
+
+    cap_max[0] = (int16_t)eeprom_read(EEPROM_RECV_MAX_1) - 127;
+    cap_max[1] = (int16_t)eeprom_read(EEPROM_RECV_MAX_2) - 127;
+    cap_max[2] = (int16_t)eeprom_read(EEPROM_RECV_MAX_3) - 127;
+    cap_max[3] = (int16_t)eeprom_read(EEPROM_RECV_MAX_4) - 127;
+    cap_max[4] = (int16_t)eeprom_read(EEPROM_RECV_MAX_5) - 127;
+    cap_max[5] = (int16_t)eeprom_read(EEPROM_RECV_MAX_6) - 127;
+    cap_max[6] = (int16_t)eeprom_read(EEPROM_RECV_MAX_7) - 127;
+    cap_max[7] = (int16_t)eeprom_read(EEPROM_RECV_MAX_8) - 127;
+
+    // --------- OUTPUT - MOTOR ----------- //
+    motor_min[0] = (int)eeprom_read(EEPROM_MOTOR_MIN_1_UP) * 256 + eeprom_read(EEPROM_MOTOR_MIN_1_DOWN);
+    motor_min[1] = (int)eeprom_read(EEPROM_MOTOR_MIN_2_UP) * 256 + eeprom_read(EEPROM_MOTOR_MIN_2_DOWN);
+    motor_min[2] = (int)eeprom_read(EEPROM_MOTOR_MIN_3_UP) * 256 + eeprom_read(EEPROM_MOTOR_MIN_3_DOWN);
+    motor_min[3] = (int)eeprom_read(EEPROM_MOTOR_MIN_4_UP) * 256 + eeprom_read(EEPROM_MOTOR_MIN_4_DOWN);
+
+    // --------- OUTPUT - LED ------------ //
+    headlight_period = eeprom_read(EEPROM_HEADLIGHT_PERIOD);
+    headlight_dutyrate = eeprom_read(EEPROM_HEADLIGHT_DUTYRATE);
+    sidelight_period = eeprom_read(EEPROM_SIDELIGHT_PERIOD);
+    sidelight_dutyrate = eeprom_read(EEPROM_SIDELIGHT_DUTYRATE);
+
+    // --------- GAIN - LIMIT ANGLE ------- //
+    limit_rollx100 = (int)eeprom_read(EEPROM_LIMIT_ANGLE_ROLL_UP) * 256 + eeprom_read(EEPROM_LIMIT_ANGLE_ROLL_DOWN) - 32767;
+    limit_pitchx100 = (int)eeprom_read(EEPROM_LIMIT_ANGLE_PITCH_UP) * 256 + eeprom_read(EEPROM_LIMIT_ANGLE_PITCH_DOWN) - 32767;
+    limit_roll_rate = (int)eeprom_read(EEPROM_LIMIT_RATE_ROLL_UP) * 256 + eeprom_read(EEPROM_LIMIT_RATE_ROLL_DOWN) - 32767;
+    limit_pitch_rate = (int)eeprom_read(EEPROM_LIMIT_RATE_PITCH_UP) * 256 + eeprom_read(EEPROM_LIMIT_RATE_PITCH_DOWN) - 32767;
+    limit_yaw_rate = (int)eeprom_read(EEPROM_LIMIT_RATE_YAW_UP) * 256 + eeprom_read(EEPROM_LIMIT_RATE_YAW_DOWN) - 32767;
+
+    // --------- GAIN - GAIN DATA --------- //
+    for (int i = 0; i < 20; i++) {
+        gain_px100[i] = (int)eeprom_read(EEPROM_GAIN_P_UP[i]) * 256 + eeprom_read(EEPROM_GAIN_P_DOWN[i]);
+        gain_dx100[i] = (int)eeprom_read(EEPROM_GAIN_D_UP[i]) * 256 + eeprom_read(EEPROM_GAIN_D_DOWN[i]);
+        gain_ix100[i] = (int)eeprom_read(EEPROM_GAIN_I_UP[i]) * 256 + eeprom_read(EEPROM_GAIN_I_DOWN[i]);
+    }
+    calibrate_gap_roll = (((int)eeprom_read(EEPROM_AHRS_ROLL_GAP_UP) * 256 + eeprom_read(EEPROM_AHRS_ROLL_GAP_DOWN))  - 32767)/100.0;
+    calibrate_gap_pitch = (((int)eeprom_read(EEPROM_AHRS_PITCH_GAP_UP) * 256 + eeprom_read(EEPROM_AHRS_PITCH_GAP_DOWN))  - 32767)/100.0;
+
+    // --------- Sensor ----------- ///
+    mag_x_avg = (float)eeprom_read(EEPROM_AHRS_YAW_X_GAP_1) * 256 + eeprom_read(EEPROM_AHRS_YAW_X_GAP_2) - 32767 ;
+    mag_y_avg = (float)eeprom_read(EEPROM_AHRS_YAW_Y_GAP_1) * 256 + eeprom_read(EEPROM_AHRS_YAW_Y_GAP_2) - 32767 ;
+    mag_z_avg = (float)eeprom_read(EEPROM_AHRS_YAW_Z_GAP_1) * 256 + eeprom_read(EEPROM_AHRS_YAW_Z_GAP_2) - 32767 ;
+
+    declination_angle = (float)(((signed long)eeprom_read(EEPROM_AHRS_DECLINATION_ANGLE_UP) * 256 + eeprom_read(EEPROM_AHRS_DECLINATION_ANGLE_DOWN))-18000)/100.0;
+}
+
+void trans_configuration_data(int a, int b, int c);
+void trans_empty_data(int a, int b);
+void trans_flight_data(int a, int b);
+void ROBOFRIEN_GUI::Refresh(){
+    Modem_ID_Dept = ISR_Modem_ID_Dept;
+    Modem_ID_Dest = ISR_Modem_ID_Dest;
+    Modem_DC_DPN = ISR_Modem_DC_DPN;
+    Modem_DC_DL = ISR_Modem_DC_DL;
+    Modem_DC_REQUEST = ISR_Modem_DC_REQUEST;
+    DPN_Info = Modem_DC_DPN;
+    if ((Modem_ID_Dept == 255)&(Modem_ID_Dest == 0)) {
+        if (Modem_DC_REQUEST == 1) {
+            /// REQUST - READ FROM FCS ///
+            if (Modem_DC_DPN == 0) {
+                /// FLIGHT DATA ///
+                if( (Modem_DATA[1] & 0b00000001) == 0b00000001)button[0] = !button[0];
+                if( (Modem_DATA[1] & 0b00000010) == 0b00000010)button[1] = !button[1];
+                if( (Modem_DATA[1] & 0b00000100) == 0b00000100)button[2] = !button[2];
+                if( (Modem_DATA[1] & 0b00001000) == 0b00001000)button[3] = !button[3];
+                if( (Modem_DATA[1] & 0b00010000) == 0b00010000)button[4] = !button[4];
+                // Home Point //
+                if( Modem_DATA[0] == 0){
+                    Homepoint_Lat = (long)Modem_DATA[3] * 16777216 + Modem_DATA[4] * 65536 + Modem_DATA[5] * 256 + Modem_DATA[6] - 90000000;
+                    Homepoint_Lng = (long)Modem_DATA[7] * 16777216 + Modem_DATA[8] * 65536 + Modem_DATA[9] * 256 + Modem_DATA[10] - 180000000;
+                    Homepoint_Alt = (long)Modem_DATA[11] * 256 + Modem_DATA[12] - 10000;
+                }else if(Modem_DATA[0] <= 20){
+                    Marker_Mode[Modem_DATA[0]-1] = Modem_DATA[2];
+                    Marker_Lat[Modem_DATA[0]-1] = (long)Modem_DATA[3] * 16777216 + Modem_DATA[4] * 65536 + Modem_DATA[5] * 256 + Modem_DATA[6] - 90000000;
+                    Marker_Lng[Modem_DATA[0]-1] = (long)Modem_DATA[7] * 16777216 + Modem_DATA[8] * 65536 + Modem_DATA[9] * 256 + Modem_DATA[10] - 180000000;
+                    Marker_Alt[Modem_DATA[0]-1] = (long)Modem_DATA[11] * 256 + Modem_DATA[12] - 10000;                    
+                    Marker_Speed[Modem_DATA[0]-1] = (long)Modem_DATA[13] * 256 + Modem_DATA[14];
+                }
+                trans_flight_data(TO_GCS, Modem_DC_DPN);
+            }
+            else {
+                trans_configuration_data(TO_GCS, Modem_DC_DPN, Modem_DATA[0]);
+            }
+        }
+        else {
+            /// NOT REQUEST - WRITE TO FCS ///
+                trans_empty_data(TO_GCS, Modem_DC_DPN);
+                switch (Modem_DC_DPN) { // Check DPN //
+                case 0:
+                    break;
+                case 1:     /// Modem ///
+                    model_type1 = Modem_DATA[0];
+                    model_type2 = (uint16_t)Modem_DATA[1] * 256 + Modem_DATA[2];
+                    eeprom_write(EEPROM_MODEL_TYPE1, (int)model_type1);
+                    eeprom_write(EEPROM_MODEL_TYPE2_UP, (int)model_type2 / 256);
+                    eeprom_write(EEPROM_MODEL_TYPE2_DOWN, (int)model_type2 % 256);
+                    eeprom_refresh();
+                    break;
+                case 3:     /// RC Receiver ///
+                    if ((Modem_DATA[0] >= 1) & (Modem_DATA[0] <= 8)) {
+                        cap_min[Modem_DATA[0] - 1] = (int16_t)Modem_DATA[5] - 127;
+                        cap_neu[Modem_DATA[0] - 1] = (int16_t)Modem_DATA[6] - 127;
+                        cap_max[Modem_DATA[0] - 1] = (int16_t)Modem_DATA[7] - 127;
+                        switch (Modem_DATA[0]) {
+                        case 1:
+                            eeprom_write(EEPROM_RECV_MIN_1, cap_min[Modem_DATA[0] - 1] + 127);
+                            eeprom_write(EEPROM_RECV_NEU_1, cap_neu[Modem_DATA[0] - 1] + 127);
+                            eeprom_write(EEPROM_RECV_MAX_1, cap_max[Modem_DATA[0] - 1] + 127);
+                            break;
+                        case 2:
+                            eeprom_write(EEPROM_RECV_MIN_2, cap_min[Modem_DATA[0] - 1] + 127);
+                            eeprom_write(EEPROM_RECV_NEU_2, cap_neu[Modem_DATA[0] - 1] + 127);
+                            eeprom_write(EEPROM_RECV_MAX_2, cap_max[Modem_DATA[0] - 1] + 127);
+                            break;
+                        case 3:
+                            eeprom_write(EEPROM_RECV_MIN_3, cap_min[Modem_DATA[0] - 1] + 127);
+                            eeprom_write(EEPROM_RECV_NEU_3, cap_neu[Modem_DATA[0] - 1] + 127);
+                            eeprom_write(EEPROM_RECV_MAX_3, cap_max[Modem_DATA[0] - 1] + 127);
+                            break;
+                        case 4:
+                            eeprom_write(EEPROM_RECV_MIN_4, cap_min[Modem_DATA[0] - 1] + 127);
+                            eeprom_write(EEPROM_RECV_NEU_4, cap_neu[Modem_DATA[0] - 1] + 127);
+                            eeprom_write(EEPROM_RECV_MAX_4, cap_max[Modem_DATA[0] - 1] + 127);
+                            break;
+                        case 5:
+                            eeprom_write(EEPROM_RECV_MIN_5, cap_min[Modem_DATA[0] - 1] + 127);
+                            eeprom_write(EEPROM_RECV_NEU_5, cap_neu[Modem_DATA[0] - 1] + 127);
+                            eeprom_write(EEPROM_RECV_MAX_5, cap_max[Modem_DATA[0] - 1] + 127);
+                            break;
+                        case 6:
+                            eeprom_write(EEPROM_RECV_MIN_6, cap_min[Modem_DATA[0] - 1] + 127);
+                            eeprom_write(EEPROM_RECV_NEU_6, cap_neu[Modem_DATA[0] - 1] + 127);
+                            eeprom_write(EEPROM_RECV_MAX_6, cap_max[Modem_DATA[0] - 1] + 127);
+                            break;
+                        case 7:
+                            eeprom_write(EEPROM_RECV_MIN_7, cap_min[Modem_DATA[0] - 1] + 127);
+                            eeprom_write(EEPROM_RECV_NEU_7, cap_neu[Modem_DATA[0] - 1] + 127);
+                            eeprom_write(EEPROM_RECV_MAX_7, cap_max[Modem_DATA[0] - 1] + 127);
+                            break;
+                        case 8:
+                            eeprom_write(EEPROM_RECV_MIN_8, cap_min[Modem_DATA[0] - 1] + 127);
+                            eeprom_write(EEPROM_RECV_NEU_8, cap_neu[Modem_DATA[0] - 1] + 127);
+                            eeprom_write(EEPROM_RECV_MAX_8, cap_max[Modem_DATA[0] - 1] + 127);
+                            break;
+                        }
+                        eeprom_refresh();
+                    }
+                    break;
+                case 4:     // Motor - OUTPUT //
+                    pwm_info[0] = (int)Modem_DATA[1] * 256 + Modem_DATA[2];
+                    pwm_info[1] = (int)Modem_DATA[3] * 256 + Modem_DATA[4];
+                    pwm_info[2] = (int)Modem_DATA[5] * 256 + Modem_DATA[6];
+                    pwm_info[3] = (int)Modem_DATA[7] * 256 + Modem_DATA[8];
+                    switch (Modem_DATA[0]) {
+                    case 1:
+                        motor_min[0] = pwm_info[0];
+                        eeprom_write(EEPROM_MOTOR_MIN_1_UP, motor_min[0] / 256);
+                        eeprom_write(EEPROM_MOTOR_MIN_1_DOWN, motor_min[0] % 256);
+                        eeprom_refresh();
+                        break;
+                    case 2:
+                        motor_min[1] = pwm_info[1];
+                        eeprom_write(EEPROM_MOTOR_MIN_2_UP, motor_min[1] / 256);
+                        eeprom_write(EEPROM_MOTOR_MIN_2_DOWN, motor_min[1] % 256);
+                        eeprom_refresh();
+                        break;
+                    case 3:
+                        motor_min[2] = pwm_info[2];
+                        eeprom_write(EEPROM_MOTOR_MIN_3_UP, motor_min[2] / 256);
+                        eeprom_write(EEPROM_MOTOR_MIN_3_DOWN, motor_min[2] % 256);
+                        eeprom_refresh();
+                        break;
+                    case 4:
+                        motor_min[3] = pwm_info[3];
+                        eeprom_write(EEPROM_MOTOR_MIN_4_UP, motor_min[3] / 256);
+                        eeprom_write(EEPROM_MOTOR_MIN_4_DOWN, motor_min[3] % 256);
+                        eeprom_refresh();
+                        break;
+                    }
+                    break;
+                case 5:     // LED - OUTPUT //
+                    headlight_period = Modem_DATA[0];
+                    headlight_dutyrate = Modem_DATA[1];
+                    sidelight_period = Modem_DATA[2];
+                    sidelight_dutyrate = Modem_DATA[3];
+                    eeprom_write(EEPROM_HEADLIGHT_PERIOD, headlight_period);
+                    eeprom_write(EEPROM_HEADLIGHT_DUTYRATE, headlight_dutyrate);
+                    eeprom_write(EEPROM_SIDELIGHT_PERIOD, sidelight_period);
+                    eeprom_write(EEPROM_SIDELIGHT_DUTYRATE, sidelight_dutyrate);
+                    eeprom_refresh();
+                    break;
+                case 6:     // AHRS - ROLL , Pitch //
+                            /// Attitude ///
+                    if (Modem_DATA[0] == 1) {
+                        attitude_configuration_bool = true;
+                    }
+                    else {
+                        attitude_configuration_bool = false;
+                    }
+                    /// Coompass ///
+                    if (Modem_DATA[7] == 1) {
+                        compass_configuration_start_bool = true;
+                    }
+                    else if (Modem_DATA[7] == 2) {
+                        compass_configuration_end_bool = true;
+                    }
+                    else if(Modem_DATA[7] == 3){
+                        declination_angle = (float)(((int)Modem_DATA[10] * 256 + Modem_DATA[11]) - 18000)/100.0;
+                        eeprom_write(EEPROM_AHRS_DECLINATION_ANGLE_UP, (int)((declination_angle+180)*100)/256);
+                        eeprom_write(EEPROM_AHRS_DECLINATION_ANGLE_DOWN, (int)((declination_angle+180)*100)%256);
+                        eeprom_refresh();
+                    }
+                    break;
+                case 7:     // Limit Angle //
+                    limit_rollx100 = ((int)Modem_DATA[0] * 256 + Modem_DATA[1]) - 32767;
+                    limit_pitchx100 = ((int)Modem_DATA[2] * 256 + Modem_DATA[3]) - 32767;
+                    limit_roll_rate = ((int)Modem_DATA[4] * 256 + Modem_DATA[5]) - 32767;
+                    limit_pitch_rate = ((int)Modem_DATA[6] * 256 + Modem_DATA[7]) - 32767;
+                    limit_yaw_rate = ((int)Modem_DATA[8] * 256 + Modem_DATA[9]) - 32767;
+                    eeprom_write(EEPROM_LIMIT_ANGLE_ROLL_UP, (limit_rollx100 + 32767) / 256);
+                    eeprom_write(EEPROM_LIMIT_ANGLE_ROLL_DOWN, (limit_rollx100 + 32767) % 256);
+                    eeprom_write(EEPROM_LIMIT_ANGLE_PITCH_UP, (limit_pitchx100 + 32767) / 256);
+                    eeprom_write(EEPROM_LIMIT_ANGLE_PITCH_DOWN, (limit_pitchx100 + 32767) % 256);
+                    eeprom_write(EEPROM_LIMIT_RATE_ROLL_UP, (limit_roll_rate + 32767) / 256);
+                    eeprom_write(EEPROM_LIMIT_RATE_ROLL_DOWN, (limit_roll_rate + 32767) % 256);
+                    eeprom_write(EEPROM_LIMIT_RATE_PITCH_UP, (limit_pitch_rate + 32767) / 256);
+                    eeprom_write(EEPROM_LIMIT_RATE_PITCH_DOWN, (limit_pitch_rate + 32767) % 256);
+                    eeprom_write(EEPROM_LIMIT_RATE_YAW_UP, (limit_yaw_rate + 32767) / 256);
+                    eeprom_write(EEPROM_LIMIT_RATE_YAW_DOWN, (limit_yaw_rate + 32767) % 256);
+                    eeprom_refresh();
+                    break;
+                case 8:
+                    int gain_number = Modem_DATA[0];
+                    if ((gain_number >= 1) & (gain_number <= 20)) {
+                        gain_px100[gain_number - 1] = (int)Modem_DATA[1] * 256 + Modem_DATA[2];
+                        gain_dx100[gain_number - 1] = (int)Modem_DATA[3] * 256 + Modem_DATA[4];
+                        gain_ix100[gain_number - 1] = (int)Modem_DATA[5] * 256 + Modem_DATA[6];
+                        eeprom_write(EEPROM_GAIN_P_UP[gain_number - 1], gain_px100[gain_number - 1] / 256);
+                        eeprom_write(EEPROM_GAIN_P_DOWN[gain_number - 1], gain_px100[gain_number - 1] % 256);
+                        eeprom_write(EEPROM_GAIN_D_UP[gain_number - 1], gain_dx100[gain_number - 1] / 256);
+                        eeprom_write(EEPROM_GAIN_D_DOWN[gain_number - 1], gain_dx100[gain_number - 1] % 256);
+                        eeprom_write(EEPROM_GAIN_I_UP[gain_number - 1], gain_ix100[gain_number - 1] / 256);
+                        eeprom_write(EEPROM_GAIN_I_DOWN[gain_number - 1], gain_ix100[gain_number - 1] % 256);    
+                        if(gain_number == 20)eeprom_refresh();
+                    }
+                    break;
+            }
+
+        }
+    }
+
+}
+void ROBOFRIEN_GUI::trans_empty_data(int id_dest, int data_parse_num) {
+    uint8_t Packet_SOF[2] = { 254,254 };
+    uint8_t Packet_Identifier[2];
+    uint8_t Packet_DC[3];
+    uint8_t Packet_CHKSUM[2];
+    uint8_t Packet_EOF[2] = { 255,255 };
+    // Identifier //
+    Packet_Identifier[0] = 0;
+    Packet_Identifier[1] = id_dest;
+    // Data Control //
+    Packet_DC[0] = 0;
+    Packet_DC[1] = (uint8_t)data_parse_num;
+    int data_length = 0;
+    Packet_DC[2] = (uint8_t)data_length;
+
+    // CHKSUM //
+    unsigned int data_checksum = 0;
+    Packet_CHKSUM[0] = data_checksum / 256;
+    Packet_CHKSUM[1] = data_checksum % 256;
+
+    // Each Buffer Integrate to modem_buffer ///
+    uint8_t modem_buffer[11];
+    modem_buffer[0] = Packet_SOF[0];        modem_buffer[1] = Packet_SOF[1];
+    modem_buffer[2] = Packet_Identifier[0]; modem_buffer[3] = Packet_Identifier[1];
+    modem_buffer[4] = Packet_DC[0];         modem_buffer[5] = Packet_DC[1];         modem_buffer[6] = Packet_DC[2];
+    modem_buffer[7] = Packet_CHKSUM[0];
+    modem_buffer[8] = Packet_CHKSUM[1];
+    modem_buffer[9] = Packet_EOF[0];
+    modem_buffer[10] = Packet_EOF[1];
+    for (int i = 0; i <= 10; i++) {
+        pc.putc(modem_buffer[i]);
+    }
+}
+
+void ROBOFRIEN_GUI::trans_configuration_data(int id_dest, int data_parse_num, int data_parse_detail_num) {
+
+    uint8_t Packet_SOF[2] = { 254,254 };
+    uint8_t Packet_Identifier[2];
+    uint8_t Packet_DC[3];
+    uint8_t Packet_DATA[16];
+    uint8_t Packet_CHKSUM[2];
+    uint8_t Packet_EOF[2] = { 255,255 };
+    // Identifier //
+    Packet_Identifier[0] = 0;
+    Packet_Identifier[1] = id_dest;
+    // Data Control //
+    Packet_DC[0] = 0;
+    Packet_DC[1] = (uint8_t)data_parse_num;
+    int data_length = 16;
+    Packet_DC[2] = (uint8_t)data_length;
+    // DATA  //
+    switch (data_parse_num) {
+    case 0:
+        //// Empty Data ////
+        for (int i = 0; i <= 15; i++) {
+            Packet_DATA[i] = 0;
+        }
+        break;
+    case 1:
+        //// MODEM ////
+        Packet_DATA[0] = model_type1;
+        Packet_DATA[1] = model_type2 / 256; Packet_DATA[2] = model_type2 % 256;
+        for (int i = 3; i <= 15; i++) Packet_DATA[i] = 0;
+        break;
+    case 2:
+        //// Firmware ////
+        for (int i = 0; i <= 13; i++) {
+            Packet_DATA[i] = MODEL_INFO[i];
+        }
+        float firmware_info;
+        firmware_info = FIRMWARE_INFO;
+        Packet_DATA[14] = (uint8_t)(firmware_info * 100 / 256);    Packet_DATA[15] = (uint8_t)((uint32_t)(firmware_info * 100) % 256);
+        break;
+    case 3:
+        //// RC Receiver ////
+        if (data_parse_detail_num == 0) {
+            Packet_DATA[0] = data_parse_detail_num; Packet_DATA[1] = 0; Packet_DATA[2] = 0; Packet_DATA[3] = 0; Packet_DATA[4] = 0; Packet_DATA[5] = 0; Packet_DATA[6] = 0; Packet_DATA[7] = 0;
+        }
+        else if(data_parse_detail_num <= 8){
+            Packet_DATA[0] = data_parse_detail_num; Packet_DATA[1] = cap_min[data_parse_detail_num - 1];    Packet_DATA[2] = cap_neu[data_parse_detail_num - 1];    Packet_DATA[3] = cap_max[data_parse_detail_num - 1];    Packet_DATA[4] = 0;
+            Packet_DATA[5] = cap_min[data_parse_detail_num - 1] + 127;  Packet_DATA[6] = cap_neu[data_parse_detail_num - 1] + 127; Packet_DATA[7] = cap_max[data_parse_detail_num - 1] + 127;
+        }
+        else {
+            for (int i = 0; i <= 7; i++) Packet_DATA[i] = 0;
+        }
+        Packet_DATA[8] = raw_cap[0] + 127;  Packet_DATA[9] = raw_cap[1] + 127;  Packet_DATA[10] = raw_cap[2] + 127; Packet_DATA[11] = raw_cap[3] + 127; Packet_DATA[12] = raw_cap[4] + 127; Packet_DATA[13] = raw_cap[5] + 127; Packet_DATA[14] = raw_cap[6] + 127; Packet_DATA[15] = raw_cap[7] + 127;
+        break;
+    case 4:
+        for(int i=0; i<16; i++) Packet_DATA[i] = 0;
+        break;
+    case 5:
+        /////// LED //////////
+        Packet_DATA[0] = headlight_period;  Packet_DATA[1] = headlight_dutyrate;    Packet_DATA[2] = sidelight_period;  Packet_DATA[3] = sidelight_dutyrate;
+        break;
+    case 6:
+        //// AHRS - Roll , Pitch ///
+        Packet_DATA[0] = 0;
+        Packet_DATA[1] = (uint8_t)((unsigned long)(((float)rollx100 / 100.0 + 180) * 100) / 256);
+        Packet_DATA[2] = (uint8_t)((unsigned long)(((float)rollx100 / 100.0 + 180) * 100) % 256);
+        Packet_DATA[3] = (uint8_t)((unsigned long)(((float)pitchx100 / 100.0 + 90) * 100) / 256);
+        Packet_DATA[4] = (uint8_t)((unsigned long)(((float)pitchx100 / 100.0 + 90) * 100) % 256);
+        //// AHRS - Yaw ///
+        Packet_DATA[5] = 0; Packet_DATA[6] = 0;
+        Packet_DATA[7] = (uint8_t)fcs_compass_configuration_state;
+        Packet_DATA[8] = (uint8_t)((unsigned long)(yawx100) / 256);
+        Packet_DATA[9] = (uint8_t)((unsigned long)(yawx100) % 256);
+        for (int i = 10; i <= 15; i++)Packet_DATA[i] = 0;
+        break;
+    case 7:
+        /// Limit ANGLE ////
+        Packet_DATA[0] = (limit_rollx100 + 32767) / 256;
+        Packet_DATA[1] = (limit_rollx100 + 32767) % 256;
+        Packet_DATA[2] = (limit_pitchx100 + 32767) / 256;
+        Packet_DATA[3] = (limit_pitchx100 + 32767) % 256;
+        Packet_DATA[4] = (limit_roll_rate + 32767) / 256;
+        Packet_DATA[5] = (limit_roll_rate + 32767) % 256;
+        Packet_DATA[6] = (limit_pitch_rate + 32767) / 256;
+        Packet_DATA[7] = (limit_pitch_rate + 32767) % 256;
+        Packet_DATA[8] = (limit_yaw_rate + 32767) / 256;
+        Packet_DATA[9] = (limit_yaw_rate + 32767) % 256;
+        for (int i = 10; i <= 15; i++) Packet_DATA[i] = 0;
+        break;
+    case 8:
+        Packet_DATA[0] = data_parse_detail_num;
+        if ((data_parse_detail_num > 0)&(data_parse_detail_num <= 20)) {
+            Packet_DATA[1] = gain_px100[data_parse_detail_num - 1] / 256;
+            Packet_DATA[2] = gain_px100[data_parse_detail_num - 1] % 256;
+            Packet_DATA[3] = gain_dx100[data_parse_detail_num - 1] / 256;
+            Packet_DATA[4] = gain_dx100[data_parse_detail_num - 1] % 256;
+            Packet_DATA[5] = gain_ix100[data_parse_detail_num - 1] / 256;
+            Packet_DATA[6] = gain_ix100[data_parse_detail_num - 1] % 256;
+            for (int i = 7; i <= 15; i++) Packet_DATA[i] = 0;
+        }
+        else {
+            for (int i = 1; i <= 15; i++) Packet_DATA[i] = 0;
+        }
+        break;
+    }
+
+    // CHKSUM //
+    unsigned int data_checksum = 0;
+    for (int i = 0; i < data_length; i++) {
+        data_checksum += Packet_DATA[i];
+    }
+    Packet_CHKSUM[0] = data_checksum / 256;
+    Packet_CHKSUM[1] = data_checksum % 256;
+
+    // Each Buffer Integrate to modem_buffer ///
+    uint8_t modem_buffer[27];
+    modem_buffer[0] = Packet_SOF[0];        modem_buffer[1] = Packet_SOF[1];
+modem_buffer[2] = Packet_Identifier[0]; modem_buffer[3] = Packet_Identifier[1];
+modem_buffer[4] = Packet_DC[0];         modem_buffer[5] = Packet_DC[1];         modem_buffer[6] = Packet_DC[2];
+for (int i = 0; i < data_length; i++) {
+    modem_buffer[i + 7] = Packet_DATA[i];
+}
+modem_buffer[23] = Packet_CHKSUM[0];
+modem_buffer[24] = Packet_CHKSUM[1];
+modem_buffer[25] = Packet_EOF[0];
+modem_buffer[26] = Packet_EOF[1];
+for (int i = 0; i <= 26; i++) {
+    pc.putc(modem_buffer[i]);
+}
+}
+
+void ROBOFRIEN_GUI::trans_flight_data(int id_dest, int data_parse_num) {
+
+    uint8_t Packet_SOF[2] = { 254,254 };
+    uint8_t Packet_Identifier[2];
+    uint8_t Packet_DC[3];
+    uint8_t Packet_DATA[73];
+    uint8_t Packet_CHKSUM[2];
+    uint8_t Packet_EOF[2] = { 255,255 };
+    // Identifier //
+    Packet_Identifier[0] = 0;
+    Packet_Identifier[1] = id_dest;
+    // Data Control //
+    Packet_DC[0] = 0;
+    Packet_DC[1] = (uint8_t)data_parse_num;
+    int data_length;
+    if (data_parse_num == 0) data_length = 73;
+    else data_length = 16;
+    Packet_DC[2] = (uint8_t)data_length;
+    // DATA - Modem & State //
+    if(Mode1 >= 15) Mode1 = 15;
+    else if(Mode1 <= 0) Mode1 = 0;
+    if(Mode2 >= 15) Mode2 = 15;
+    else if(Mode2 <= 0) Mode2 = 0;
+    if(MissionState >= 15) MissionState = 15;
+    else if(MissionState <= 0) MissionState = 0;
+    if(CurrentMarker >= 20) CurrentMarker = 20;
+    else if(CurrentMarker <= 0) CurrentMarker = 0;
+    HomePointChksum = ((Homepoint_Lat + 90000000)/16777216) + ((Homepoint_Lat + 90000000)%16777216/65536) + ((Homepoint_Lat + 90000000)%65536/256) + ((Homepoint_Lat + 90000000)%256);
+    HomePointChksum += ((Homepoint_Lng + 180000000)/16777216) + ((Homepoint_Lng + 180000000)%16777216/65536) + ((Homepoint_Lng + 180000000)%65536/256) + ((Homepoint_Lng + 180000000)%256);
+    HomePointChksum += ((Homepoint_Alt + 10000)/256 + (Homepoint_Alt + 10000)%256);
+    MarkerChksum = 0;
+    for(int i=0; i<20; i++){
+        MarkerChksum += Marker_Mode[i];
+        MarkerChksum += (Marker_Lat[i]+90000000)/16777216 + (Marker_Lat[i]+90000000)%16777216/65536 + (Marker_Lat[i]+90000000)%65536/256 + (Marker_Lat[i]+90000000)%256;   
+        MarkerChksum += (Marker_Lng[i]+180000000)/16777216 + (Marker_Lng[i]+180000000)%16777216/65536 + (Marker_Lng[i]+180000000)%65536/256 + (Marker_Lng[i]+180000000)%256;
+        MarkerChksum += (Marker_Alt[i]+10000)/256 + (Marker_Alt[i]+10000)%256;
+        MarkerChksum += Marker_Speed[i]/256 + Marker_Speed[i]%256;   
+    }
+    Packet_DATA[0] = Mode1 * 16 + Mode2;
+    Packet_DATA[1] = MissionState;
+    Packet_DATA[2] = CurrentMarker;
+    Packet_DATA[3] = Bat1;
+    Packet_DATA[4] = Bat2;
+    Packet_DATA[5] = button[0] * 1 + button[1] * 2 + button[2] * 4 + button[3] * 8 + button[4] * 16;
+    Packet_DATA[6] = HomePointChksum%256;
+    Packet_DATA[7] = MarkerChksum % 256;
+    // DATA - GPS //
+    unsigned long send_gps_time = utc_time;
+    Packet_DATA[8] = send_gps_time / 16777216;
+    Packet_DATA[9] = send_gps_time % 16777216 / 65536;
+    Packet_DATA[10] = send_gps_time % 65536 / 256;
+    Packet_DATA[11] = send_gps_time % 256;
+    signed long send_gps_latitude = latitude + 90000000;
+    Packet_DATA[12] = send_gps_latitude / 16777216;
+    Packet_DATA[13] = send_gps_latitude % 16777216 / 65536;
+    Packet_DATA[14] = send_gps_latitude % 65536 / 256;
+    Packet_DATA[15] = send_gps_latitude % 256;
+    signed long send_gps_longitude = longitude + 180000000;
+    Packet_DATA[16] = send_gps_longitude / 16777216;
+    Packet_DATA[17] = send_gps_longitude % 16777216 / 65536;
+    Packet_DATA[18] = send_gps_longitude % 65536 / 256;
+    Packet_DATA[19] = send_gps_longitude % 256;
+    signed long send_altitude;
+    if ((altitude + 10000) < 0) send_altitude = -10000;
+    else send_altitude = (altitude + 10000);
+    Packet_DATA[20] = send_altitude / 256;
+    Packet_DATA[21] = send_altitude % 256;
+    Packet_DATA[22] = SatNum;
+    // AHRS //
+    unsigned long send_roll = rollx100 + 32767;
+    Packet_DATA[23] = send_roll / 256;
+    Packet_DATA[24] = send_roll % 256;
+    unsigned long send_pitch = pitchx100 + 32767;
+    Packet_DATA[25] = send_pitch / 256;
+    Packet_DATA[26] = send_pitch % 256;
+    unsigned long send_yaw = yawx100;
+    Packet_DATA[27] = send_yaw / 256;
+    Packet_DATA[28] = send_yaw % 256;
+    unsigned long send_roll_rate = (roll_ratex100 +32767);
+    Packet_DATA[29] = send_roll_rate / 256;
+    Packet_DATA[30] = send_roll_rate % 256;
+    unsigned long send_pitch_rate = (pitch_ratex100 + 32767);
+    Packet_DATA[31] = send_pitch_rate / 256;
+    Packet_DATA[32] = send_pitch_rate % 256;
+    unsigned long send_yaw_rate = (yaw_ratex100 + 32767);
+    Packet_DATA[33] = send_yaw_rate / 256;
+    Packet_DATA[34] = send_yaw_rate % 256;
+    unsigned long send_velocity_x = (VXx100 + 32767);
+    Packet_DATA[35] = send_velocity_x / 256;
+    Packet_DATA[36] = send_velocity_x % 256;
+    unsigned long send_velocity_y = (VYx100 + 32767);
+    Packet_DATA[37] = send_velocity_y / 256;
+    Packet_DATA[38] = send_velocity_y % 256;
+    unsigned long send_velocity_z = (VZx100 + 32767);
+    Packet_DATA[39] = send_velocity_z / 256;
+    Packet_DATA[40] = send_velocity_z % 256;
+    // CAP and PWM //
+    Packet_DATA[41] = (cap[0] + 127);
+    Packet_DATA[42] = (cap[1] + 127);
+    Packet_DATA[43] = (cap[2] + 127);
+    Packet_DATA[44] = (cap[3] + 127);
+    Packet_DATA[45] = (cap[4] + 127);
+    Packet_DATA[46] = (cap[5] + 127);
+    Packet_DATA[47] = (cap[6] + 127);
+    Packet_DATA[48] = (cap[7] + 127);
+    
+    // PWM //
+    for (int i = 49; i <= 56; i++) {
+        Packet_DATA[i] = pwm[i-49];
+    }
+    // DEBUG //
+    Packet_DATA[57] = (int)((DEBUGx100[0]))/256;
+    Packet_DATA[58] = (int)((DEBUGx100[0]))%256;
+    Packet_DATA[59] = (int)((DEBUGx100[1]))/256;
+    Packet_DATA[60] = (int)((DEBUGx100[1]))%256;
+    Packet_DATA[61] = (int)((DEBUGx100[2]))/256;
+    Packet_DATA[62] = (int)((DEBUGx100[2]))%256;
+    Packet_DATA[63] = (int)((DEBUGx100[3]))/256;
+    Packet_DATA[64] = (int)((DEBUGx100[3]))%256;
+    Packet_DATA[65] = (int)((DEBUGx100[4]))/256;
+    Packet_DATA[66] = (int)((DEBUGx100[4]))%256;
+    Packet_DATA[67] = (int)((DEBUGx100[5]))/256;
+    Packet_DATA[68] = (int)((DEBUGx100[5]))%256;
+    Packet_DATA[69] = (int)((DEBUGx100[6]))/256;
+    Packet_DATA[70] = (int)((DEBUGx100[6]))%256;
+    Packet_DATA[71] = (int)((DEBUGx100[7]))/256;
+    Packet_DATA[72] = (int)((DEBUGx100[7]))%256;
+    // CHKSUM //
+    unsigned int data_checksum = 0;
+    for (int i = 0; i < data_length; i++) {
+        data_checksum += Packet_DATA[i];
+    }
+    Packet_CHKSUM[0] = data_checksum / 256;
+    Packet_CHKSUM[1] = data_checksum % 256;
+
+    // Each Buffer Integrate to modem_buffer ///
+    uint8_t modem_buffer[84];
+    modem_buffer[0] = Packet_SOF[0];        modem_buffer[1] = Packet_SOF[1];
+    modem_buffer[2] = Packet_Identifier[0]; modem_buffer[3] = Packet_Identifier[1];
+    modem_buffer[4] = Packet_DC[0];         modem_buffer[5] = Packet_DC[1];         modem_buffer[6] = Packet_DC[2];
+    for (int i = 0; i < 73; i++) {
+        modem_buffer[i + 7] = Packet_DATA[i];
+    }
+    modem_buffer[80] = Packet_CHKSUM[0];
+    modem_buffer[81] = Packet_CHKSUM[1];
+    modem_buffer[82] = Packet_EOF[0];
+    modem_buffer[83] = Packet_EOF[1];
+    for (int i = 0; i <= 83; i++) {
+        pc.putc(modem_buffer[i]);
+    }
+}
+
+void ROBOFRIEN_GUI::attitude_calibrate(float rollAngle, float pitchAngle){
+    calibrate_gap_roll += rollAngle;
+    calibrate_gap_pitch += pitchAngle;
+    eeprom_write(EEPROM_AHRS_ROLL_GAP_UP, (((unsigned long)(calibrate_gap_roll * 100 + 32767) / 256)));
+    eeprom_write(EEPROM_AHRS_ROLL_GAP_DOWN, (((unsigned long)(calibrate_gap_roll * 100 + 32767) % 256)));
+    eeprom_write(EEPROM_AHRS_PITCH_GAP_UP, (((unsigned long)(calibrate_gap_pitch * 100 + 32767) / 256)));
+    eeprom_write(EEPROM_AHRS_PITCH_GAP_DOWN, (((unsigned long)(calibrate_gap_pitch * 100 + 32767) % 256)));
+    eeprom_refresh();
+}
+
+void ROBOFRIEN_GUI::write_compass_setting_to_eeprom(){
+    eeprom_write(EEPROM_AHRS_YAW_X_GAP_1, ( (uint32_t)(mag_x_avg + 32767)/256 ) );
+    eeprom_write(EEPROM_AHRS_YAW_X_GAP_2, ( (uint32_t)(mag_x_avg + 32767)%256 ) );
+//    eeprom_write(EEPROM_AHRS_YAW_X_GAP_FLOAT, ( (unsigned long)(mag_x_avg * 100)%100 ) );
+//    eeprom_write(EEPROM_AHRS_YAW_X_GAP_3, ( (uint32_t)(mag_x_avg * 100 + 2147483648)%65536/256 ) );
+//    eeprom_write(EEPROM_AHRS_YAW_X_GAP_4, ( (uint32_t)(mag_x_avg * 100 + 2147483648)%256 ) );
+    
+    eeprom_write(EEPROM_AHRS_YAW_Y_GAP_1, ( (uint32_t)(mag_y_avg + 32767)/256 ) );
+    eeprom_write(EEPROM_AHRS_YAW_Y_GAP_2, ( (uint32_t)(mag_y_avg + 32767)%256 ) );
+//    eeprom_write(EEPROM_AHRS_YAW_Y_GAP_FLOAT, ( (unsigned long)(mag_y_avg * 100)%100 ) );
+//    eeprom_write(EEPROM_AHRS_YAW_Y_GAP_3, ( (uint32_t)(mag_y_avg * 100 + 2147483648)%65536/256 ) );
+//    eeprom_write(EEPROM_AHRS_YAW_Y_GAP_4, ( (uint32_t)(mag_y_avg * 100 + 2147483648)%256 ) );
+
+    eeprom_write(EEPROM_AHRS_YAW_Z_GAP_1, ( (uint32_t)(mag_z_avg + 32767)/256 ) );
+    eeprom_write(EEPROM_AHRS_YAW_Z_GAP_2, ( (uint32_t)(mag_z_avg + 32767)%256 ) );
+    
+    eeprom_refresh();
+}